We present a relativistic model for electroweak pion production from nuclei, focusing on the $Delta$ and the second resonance region. Bound states are derived in the Hartree approximation to the $sigma-omega$ Walecka model. Final-state interactions of the outgoing pion and nucleon are described in a factorized way by means of a relativistic extension of the Glauber model. Our formalism allows a detailed study of neutrino pion production through $Q^2$, $W$, energy, angle and out-of-plane distributions.
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